本文選題：純滾動 + 類擺線�。� 參考：《北京郵電大學》2014年博士論文

【摘要】：擺線針輪類減速器具有減速比范圍大、傳動效率高、傳動平穩(wěn)、結構緊湊等諸多優(yōu)點,在國民經(jīng)濟各個領域得到了廣泛應用。以擺線針輪行星傳動為基礎改進而來的RV減速器、FA型擺線針輪行星減速器更是在工業(yè)機器人、航空航天、大型望遠鏡等精密傳動領域占有大部分市場份額。然而擺線針輪類減速器也存在一定的缺點。其轉(zhuǎn)臂軸承相對轉(zhuǎn)速高、受力大,長時間工作會較早出現(xiàn)失效,是減速器的薄弱環(huán)節(jié)；輸出機構一般采用柱銷式結構,屬于懸臂梁結構,受力不均勻,容易出現(xiàn)疲勞斷裂；同時,當減速比較高時針齒半徑較小,無法加裝針齒套,針齒與擺線輪之間增加了滑動摩擦,降低了傳動效率。 在詳細分析了常用的擺線類減速器的結構特點和運行原理后,本文提出了一種新結構減速器。該減速器由雙類擺線針輪傳動和少齒差共面雙內(nèi)嚙合傳動兩大部分構成。本文分別闡述了這兩部分傳動形式的結構特點、傳動原理,建立了兩種傳動的三維原理模型,對虛擬樣機進行了運動學和動力學分析,并通過物理樣機實驗驗證了該傳動形式的合理性。 提出了新型純滾動類擺線針輪行星傳動。針對雙擺線針輪行星傳動中針齒無法做純滾動的問題,本文以內(nèi)外齒輪一擺弧長相等和針齒與內(nèi)外齒輪嚙合點是速度瞬心為條件,設計了一種新型齒廓曲線——類擺線,并通過疊加小齒來限制針齒切向移動,減小減速器軸向尺寸。通過對比幾種常用的疊加小齒的方法,確定了使用折算齒形法在類擺線上疊加漸開線小齒。建立了優(yōu)化的雙擺線行星齒輪減速器的三維實體模型,通過對虛擬樣機的運動學分析和物理樣機的實驗,驗證了這種新型傳動形式的可行性。 提出了少齒差共面雙內(nèi)嚙合傳動。針對擺線針輪行星傳動中中心軸承和輸出機構受力大容易失效的問題,通過對RV減速器、三環(huán)減速器、內(nèi)平動減速器等軸承受力的分析,提出了一種新型傳動結構——少齒差共面雙內(nèi)嚙合傳動。該傳動形式將NN型少齒差行星傳動中兩對齒輪副放置在一個平面,內(nèi)外層布置。通過對該傳動的動態(tài)靜力分析,驗證了中心軸承受力只為負載受力的1/5～1/4。根據(jù)該傳動形式的特點,給出了齒輪參數(shù)設計方法,設計了原理驗證模型。完成了模型的關鍵部件受力分析與校核。加工了減速器物理樣機,實驗驗證了該傳動形式的可行性。 綜合了純滾動類擺線針輪傳動和少齒差共面雙內(nèi)嚙合傳動,提出了一種新型減速器結構。該傳動將兩對雙類擺線針輪行星傳動在軸向上共面設計,具有針齒純滾動、中心軸承受力小、取消柱銷式輸出機構、軸向尺寸小等諸多優(yōu)點,可以為工業(yè)機器人關節(jié)用減速器提供一種新的結構形式,具有深入研究的價值。
[Abstract]:Cycloidal needle wheel reducer has many advantages such as wide range of deceleration ratio, high transmission efficiency, stable transmission, compact structure and so on. It has been widely used in various fields of national economy. The modified RV reducer based on cycloid pin planetary transmission has a large market share in the fields of industrial robot, aerospace, large telescope and so on. However, cycloidal needle wheel reducer also has some shortcomings. The rotor bearing has high relative rotational speed, large force and early failure during long working time, which is the weak link of the reducer, and the output mechanism generally adopts the column pin type structure, which belongs to the cantilever beam structure, and the force is not uniform, and fatigue fracture is easy to occur. At the same time, when the deceleration is high, the radius of the needle tooth is smaller, so the needle tooth sleeve can not be installed, the sliding friction between the needle tooth and the cycloid wheel is increased, and the transmission efficiency is reduced. This paper presents a new type of cycloidal reducer based on the detailed analysis of its structure and operation principle. The reducer consists of two parts: double cycloid needle wheel drive and coplanar double internal meshing transmission with less tooth difference. In this paper, the structural characteristics and transmission principle of these two parts of transmission are described, and the three dimensional principle models of the two kinds of transmission are established, and the kinematics and dynamics of the virtual prototype are analyzed. The rationality of the transmission form is verified by the physical prototype experiment. A new type of pure rolling cycloid gear planetary transmission is proposed. In order to solve the problem that the needle teeth can not be pure rolling in double cycloid gear planetary transmission, a new type of tooth profile curve-cycloid is designed based on the condition that the length of one pendulum arc is equal and the point of engagement between the inner and outer gears is the instantaneous center of velocity. The axial dimension of the reducer is reduced by overlaying the small teeth to limit the tangential movement of the needle teeth. By comparing several common methods of superposition of small teeth, the method of superimposing involute teeth on cycloid is determined. The 3D solid model of the optimized double cycloid planetary gear reducer is established. The feasibility of this new transmission is verified by the kinematics analysis of the virtual prototype and the experiment of the physical prototype. A coplanar double internal meshing transmission with less tooth difference is proposed. Aiming at the problem that the bearing and output mechanism of cycloidal pin planetary transmission are easy to fail, this paper analyzes the bearing force of RV reducer, three-ring reducer and inner translational reducer. A new type of transmission structure-coplanar double internal meshing transmission with less tooth difference is proposed. In this transmission form, two pairs of gear pairs are placed in one plane and the inner and outer layers are arranged in the NN type planetary transmission with less tooth difference. Through the dynamic static analysis of the drive, it is verified that the force of the central bearing is only 1 / 5 / 1 / 4 of the load. According to the characteristics of the transmission form, the gear parameter design method is given, and the principle verification model is designed. The key components of the model are analyzed and checked. The physical prototype of the reducer is processed, and the feasibility of the transmission form is verified by experiments. A new type of reducer structure is proposed by synthesizing the pure rolling cycloidal needle wheel drive and the coplanar double internal meshing transmission with less tooth difference. The two pairs of cycloidal gear planetary transmission are designed on the axial upper coplanar, which has many advantages, such as pure rolling of needle teeth, small force on center bearing, cancellation of pin output mechanism, small axial size, etc. It can provide a new structure form for industrial robot joint reducer, and has the value of further study.
【學位授予單位】：北京郵電大學
【學位級別】：博士
【學位授予年份】：2014
【分類號】：TH132.46

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